Abstract
The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple D.O.F. manipulator using this mechanism. This mechanism has the advantage of conventional method of the force control in realizing high compliance. This paper presents the development of the 4-D.O.F. MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-D.O.F. MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-D.O.F. MIA ARM has high performance not only in force control but also in motion control.
| Original language | English |
|---|---|
| Pages (from-to) | 2902-2907 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| Publication status | Published - 1996 Jan 1 |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 1996 Apr 22 → 1996 Apr 28 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering